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<div class="title">teststand.hpp</div>  </div>
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<a href="teststand_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#ifndef TESTSTAND_H</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#define TESTSTAND_H</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common__header_8hpp.html">blmc_robots/common_header.hpp</a>&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="blmc__joint__module_8hpp.html">blmc_robots/blmc_joint_module.hpp</a>&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;AtiFTSensor.h&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceblmc__robots.html">blmc_robots</a>{</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Teststand.html">   23</a></span>&#160;<span class="keyword">class </span><a class="code" href="classblmc__robots_1_1Teststand.html">Teststand</a></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;{</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Teststand.html#a201214fc01f68b97ceba62af3fb8cccf">   29</a></span>&#160;  <span class="keyword">typedef</span> Eigen::Matrix&lt;double, 2, 1&gt; <a class="code" href="classblmc__robots_1_1Teststand.html#a201214fc01f68b97ceba62af3fb8cccf">VectorSlider</a>;</div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Teststand.html#a23b0a73bc99ce4a3588204b7480eb6d7">   33</a></span>&#160;  <span class="keyword">typedef</span> Eigen::Matrix&lt;double, 1, 1&gt; <a class="code" href="classblmc__robots_1_1Teststand.html#a23b0a73bc99ce4a3588204b7480eb6d7">VectorContact</a>;</div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Teststand.html#a51f17cf2b01dd8252e21db97b486e067">   37</a></span>&#160;  <span class="keyword">typedef</span> Eigen::Matrix&lt;double, 3, 1&gt; <a class="code" href="classblmc__robots_1_1Teststand.html#a51f17cf2b01dd8252e21db97b486e067">VectorAtiForce</a>;</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Teststand.html#a466977786f9b007854fa2eb2a97b0de9">   41</a></span>&#160;  <span class="keyword">typedef</span> Eigen::Matrix&lt;double, 3, 1&gt; <a class="code" href="classblmc__robots_1_1Teststand.html#a466977786f9b007854fa2eb2a97b0de9">VectorAtiTorque</a>;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <a class="code" href="classblmc__robots_1_1Teststand.html#a4747b0754cd3dd669c02f27662baef7e">Teststand</a>();</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1Teststand.html#aa41ad951a8259fd15e6309e850a6084a">initialize</a>();</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classblmc__robots_1_1Teststand.html#aabb484d65bca5a341dd24abd91c47b9b">send_target_joint_torque</a>(</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; target_joint_torque);</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classblmc__robots_1_1Teststand.html#a4203e25148ab5b4ddfef3b46647213c6">acquire_sensors</a>();</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classblmc__robots_1_1Teststand.html#a80c9c4483ab006e8001229c109ec7ed7">calibrate</a>(std::array&lt;double, 2&gt;&amp; zero_to_index_angle,</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;                 std::array&lt;double, 2&gt;&amp; index_angle,</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;                 <span class="keywordtype">bool</span> mechanical_calibration = <span class="keyword">false</span>);</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Teststand.html#a4897109730380ae0be7da37e2bd69e81">   81</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Teststand.html#a4897109730380ae0be7da37e2bd69e81">get_motor_inertias</a>()</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  {</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordflow">return</span> motor_inertias_;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  }</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Teststand.html#a483bc937ac8c95b93bb90c47744da2e8">   90</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Teststand.html#a483bc937ac8c95b93bb90c47744da2e8">get_motor_torque_constants</a>()</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  {</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordflow">return</span> motor_torque_constants_;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  }</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Teststand.html#adf08db3dbb4fd8da74c8ef15fb393c1a">  102</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Teststand.html#adf08db3dbb4fd8da74c8ef15fb393c1a">get_joint_positions</a>()</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  {</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordflow">return</span> joint_positions_;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  }</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Teststand.html#acd1b325c6039fffbd40198f6deb9542c">  114</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Teststand.html#acd1b325c6039fffbd40198f6deb9542c">get_joint_velocities</a>()</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  {</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordflow">return</span> joint_velocities_;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  }</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Teststand.html#ae21ac86534e5ee7f15068f94957ba826">  126</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Teststand.html#ae21ac86534e5ee7f15068f94957ba826">get_joint_torques</a>()</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  {</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordflow">return</span> joint_torques_;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  }</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Teststand.html#a0aa762511624791e4ccbec5ad664371f">  135</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Teststand.html#a0aa762511624791e4ccbec5ad664371f">get_joint_target_torques</a>()</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  {</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="keywordflow">return</span> joint_target_torques_;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  }</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;</div><div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Teststand.html#a7def64b82a1cb58c9ae8c9c54bcaa887">  144</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Teststand.html#a7def64b82a1cb58c9ae8c9c54bcaa887">get_joint_gear_ratios</a>()</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  {</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keywordflow">return</span> joint_gear_ratios_;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  }</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div><div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Teststand.html#a2fa7aacb213c7898bb04f791ca3687d1">  156</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Teststand.html#a2fa7aacb213c7898bb04f791ca3687d1">get_joint_encoder_index</a>()</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  {</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keywordflow">return</span> joint_encoder_index_;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  }</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;</div><div class="line"><a name="l00165"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Teststand.html#adbceb17de729cced8e9985b9177efa7c">  165</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Teststand.html#adbceb17de729cced8e9985b9177efa7c">get_zero_positions</a>()</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  {</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keywordflow">return</span> joint_zero_positions_;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  }</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;</div><div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Teststand.html#af46acfc1bd408d40b850c4780e834f53">  177</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Teststand.html#af46acfc1bd408d40b850c4780e834f53">get_slider_positions</a>()</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  {</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="keywordflow">return</span> slider_positions_;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  }</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;</div><div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Teststand.html#a0486afbd05d4f7c354ebad8432c178bd">  189</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector1d&gt; <a class="code" href="classblmc__robots_1_1Teststand.html#a0486afbd05d4f7c354ebad8432c178bd">get_contact_sensors_states</a>()</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  {</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="keywordflow">return</span> contact_sensors_states_;</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  }</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;</div><div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Teststand.html#af8a0d1cc608f91a0a752758c7554087a">  201</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector1d&gt; <a class="code" href="classblmc__robots_1_1Teststand.html#af8a0d1cc608f91a0a752758c7554087a">get_height_sensors</a>()</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  {</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <span class="keywordflow">return</span> height_sensors_states_;</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  }</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;</div><div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Teststand.html#a2f912631ee055e3909ef1a5e06d8d27c">  211</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;Vector2d&gt; <a class="code" href="classblmc__robots_1_1Teststand.html#a2f912631ee055e3909ef1a5e06d8d27c">get_max_current</a>()</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  {</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    <span class="keywordflow">return</span> motor_max_current_;</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  }</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;</div><div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Teststand.html#af4bf3a4692fdeacdad78a7213c3fbe98">  223</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;VectorAtiForce&gt; <a class="code" href="classblmc__robots_1_1Teststand.html#af4bf3a4692fdeacdad78a7213c3fbe98">get_ati_force</a>()</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  {</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="keywordflow">return</span> ati_force_;</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  }</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;</div><div class="line"><a name="l00235"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1Teststand.html#a27ba45a099b4ff6852f5acd0226aa915">  235</a></span>&#160;  <span class="keyword">const</span> Eigen::Ref&lt;VectorAtiTorque&gt; <a class="code" href="classblmc__robots_1_1Teststand.html#a27ba45a099b4ff6852f5acd0226aa915">get_ati_torque</a>()</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  {</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    <span class="keywordflow">return</span> ati_torque_;</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  }</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <span class="keywordtype">bool</span> calibrate_one_joint(<span class="keywordtype">int</span> joint_index)</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  {</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="keywordflow">return</span> joints_[joint_index]-&gt;calibrate(zero_to_index_angle_[joint_index],</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;                                           index_angle_[joint_index],</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;                                           mechanical_calibration_);</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  }</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">void</span>* calibrate_hfe(<span class="keywordtype">void</span> *context)</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  {</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    <span class="keyword">static_cast&lt;</span><a class="code" href="classblmc__robots_1_1Teststand.html">Teststand</a> *<span class="keyword">&gt;</span>(context)-&gt;calibrate_one_joint(0);</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  }</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  <span class="keyword">static</span> <span class="keywordtype">void</span>* calibrate_kfe(<span class="keywordtype">void</span> *context)</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  {</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    <span class="keyword">static_cast&lt;</span><a class="code" href="classblmc__robots_1_1Teststand.html">Teststand</a> *<span class="keyword">&gt;</span>(context)-&gt;calibrate_one_joint(1);</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  }</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  ati_ft_sensor::AtiFTSensor ati_sensor_;</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  VectorAtiForce ati_force_;</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  VectorAtiTorque ati_torque_;</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> motor_inertias_;</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> motor_torque_constants_;</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> joint_positions_;</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> joint_velocities_;</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> joint_torques_;</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> joint_target_torques_;</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> joint_gear_ratios_;</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> joint_encoder_index_;</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> joint_zero_positions_;</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> slider_positions_;</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a932c1319d78144ebcaa8938ae070b784">Vector1d</a> contact_sensors_states_;</div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;</div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a932c1319d78144ebcaa8938ae070b784">Vector1d</a> height_sensors_states_;</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;</div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a> motor_max_current_;</div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;</div><div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  std::array&lt;bool, 4&gt; motor_enabled_;</div><div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;</div><div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  std::array&lt;bool, 4&gt; motor_ready_;</div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;</div><div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  std::array&lt;bool, 2&gt; motor_board_enabled_;</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;</div><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  std::array&lt;int, 2&gt; motor_board_errors_;</div><div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;</div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;  std::array&lt;CanBus_ptr, 2&gt; can_buses_;</div><div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;</div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  std::array&lt;CanBusMotorBoard_ptr, 2&gt; can_motor_boards_;</div><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;</div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  std::array&lt;Motor_ptr, 2&gt; motors_;</div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;</div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;  std::array&lt;BlmcJointModule_ptr, 2&gt; joints_;</div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;</div><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;  std::array&lt;Slider_ptr, 2&gt; sliders_;</div><div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;</div><div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;  std::array&lt;ContactSensor_ptr, 1&gt; contact_sensors_;</div><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;</div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;</div><div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;  std::array&lt;HeightSensor_ptr, 1&gt; height_sensors_;</div><div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;</div><div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;  std::array&lt;real_time_tools::RealTimeThread, 2&gt; calibration_threads_;</div><div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;</div><div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;  std::array&lt;double, 2&gt; zero_to_index_angle_;</div><div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;  std::array&lt;double, 2&gt; index_angle_;</div><div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;  <span class="keywordtype">bool</span> mechanical_calibration_;</div><div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;};</div><div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;</div><div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;} <span class="comment">// namespace blmc_robots</span></div><div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;</div><div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;<span class="preprocessor">#endif // Teststand_H</span></div><div class="ttc" id="classblmc__robots_1_1Teststand_html_aa41ad951a8259fd15e6309e850a6084a"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#aa41ad951a8259fd15e6309e850a6084a">blmc_robots::Teststand::initialize</a></div><div class="ttdeci">void initialize()</div><div class="ttdoc">initialize the robot by setting aligning the motors and calibrate the sensors to 0 ...</div><div class="ttdef"><b>Definition:</b> teststand.cpp:60</div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_a7def64b82a1cb58c9ae8c9c54bcaa887"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#a7def64b82a1cb58c9ae8c9c54bcaa887">blmc_robots::Teststand::get_joint_gear_ratios</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_joint_gear_ratios()</div><div class="ttdoc">get_joint_gear_ratios </div><div class="ttdef"><b>Definition:</b> teststand.hpp:144</div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_a2f912631ee055e3909ef1a5e06d8d27c"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#a2f912631ee055e3909ef1a5e06d8d27c">blmc_robots::Teststand::get_max_current</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_max_current()</div><div class="ttdoc">get_max_current </div><div class="ttdef"><b>Definition:</b> teststand.hpp:211</div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_a4203e25148ab5b4ddfef3b46647213c6"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#a4203e25148ab5b4ddfef3b46647213c6">blmc_robots::Teststand::acquire_sensors</a></div><div class="ttdeci">bool acquire_sensors()</div><div class="ttdoc">acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any...</div><div class="ttdef"><b>Definition:</b> teststand.cpp:110</div></div>
<div class="ttc" id="blmc__joint__module_8hpp_html"><div class="ttname"><a href="blmc__joint__module_8hpp.html">blmc_joint_module.hpp</a></div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_acd1b325c6039fffbd40198f6deb9542c"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#acd1b325c6039fffbd40198f6deb9542c">blmc_robots::Teststand::get_joint_velocities</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_joint_velocities()</div><div class="ttdoc">get_joint_velocities WARNING !!!! The method acquire_sensors() has to be called prior to any getter t...</div><div class="ttdef"><b>Definition:</b> teststand.hpp:114</div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_a4747b0754cd3dd669c02f27662baef7e"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#a4747b0754cd3dd669c02f27662baef7e">blmc_robots::Teststand::Teststand</a></div><div class="ttdeci">Teststand()</div><div class="ttdoc">Teststand is the constructor of the class. </div><div class="ttdef"><b>Definition:</b> teststand.cpp:6</div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_a483bc937ac8c95b93bb90c47744da2e8"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#a483bc937ac8c95b93bb90c47744da2e8">blmc_robots::Teststand::get_motor_torque_constants</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_motor_torque_constants()</div><div class="ttdoc">get_motor_torque_constants </div><div class="ttdef"><b>Definition:</b> teststand.hpp:90</div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_a2fa7aacb213c7898bb04f791ca3687d1"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#a2fa7aacb213c7898bb04f791ca3687d1">blmc_robots::Teststand::get_joint_encoder_index</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_joint_encoder_index()</div><div class="ttdoc">get_joint_encoder_index WARNING !!!! The method acquire_sensors() has to be called prior to any gette...</div><div class="ttdef"><b>Definition:</b> teststand.hpp:156</div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_aabb484d65bca5a341dd24abd91c47b9b"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#aabb484d65bca5a341dd24abd91c47b9b">blmc_robots::Teststand::send_target_joint_torque</a></div><div class="ttdeci">bool send_target_joint_torque(const Eigen::Ref&lt; Vector2d &gt; target_joint_torque)</div><div class="ttdoc">send_target_torques sends the target currents to the motors </div><div class="ttdef"><b>Definition:</b> teststand.cpp:173</div></div>
<div class="ttc" id="namespaceblmc__robots_html_a932c1319d78144ebcaa8938ae070b784"><div class="ttname"><a href="namespaceblmc__robots.html#a932c1319d78144ebcaa8938ae070b784">blmc_robots::Vector1d</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 1, 1 &gt; Vector1d</div><div class="ttdoc">Vector2d shortcut for the eigen vector of size 1. </div><div class="ttdef"><b>Definition:</b> common_header.hpp:23</div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_ae21ac86534e5ee7f15068f94957ba826"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#ae21ac86534e5ee7f15068f94957ba826">blmc_robots::Teststand::get_joint_torques</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_joint_torques()</div><div class="ttdoc">get_joint_torques WARNING !!!! The method acquire_sensors() has to be called prior to any getter to h...</div><div class="ttdef"><b>Definition:</b> teststand.hpp:126</div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_a80c9c4483ab006e8001229c109ec7ed7"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#a80c9c4483ab006e8001229c109ec7ed7">blmc_robots::Teststand::calibrate</a></div><div class="ttdeci">bool calibrate(std::array&lt; double, 2 &gt; &amp;zero_to_index_angle, std::array&lt; double, 2 &gt; &amp;index_angle, bool mechanical_calibration=false)</div><div class="ttdoc">This function will run a small controller that will move the joints untils the next joint index and r...</div><div class="ttdef"><b>Definition:</b> teststand.cpp:184</div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_a0aa762511624791e4ccbec5ad664371f"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#a0aa762511624791e4ccbec5ad664371f">blmc_robots::Teststand::get_joint_target_torques</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_joint_target_torques()</div><div class="ttdoc">get_joint_torques </div><div class="ttdef"><b>Definition:</b> teststand.hpp:135</div></div>
<div class="ttc" id="namespaceblmc__robots_html_acb6916bc8c9fe9d98c484fd4cc201447"><div class="ttname"><a href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">blmc_robots::Vector2d</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 2, 1 &gt; Vector2d</div><div class="ttdoc">Vector2d shortcut for the eigen vector of size 2. </div><div class="ttdef"><b>Definition:</b> common_header.hpp:28</div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_adbceb17de729cced8e9985b9177efa7c"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#adbceb17de729cced8e9985b9177efa7c">blmc_robots::Teststand::get_zero_positions</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_zero_positions()</div><div class="ttdoc">get_zero_positions </div><div class="ttdef"><b>Definition:</b> teststand.hpp:165</div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_a23b0a73bc99ce4a3588204b7480eb6d7"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#a23b0a73bc99ce4a3588204b7480eb6d7">blmc_robots::Teststand::VectorContact</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 1, 1 &gt; VectorContact</div><div class="ttdoc">This represents the contact sensor. </div><div class="ttdef"><b>Definition:</b> teststand.hpp:33</div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_af46acfc1bd408d40b850c4780e834f53"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#af46acfc1bd408d40b850c4780e834f53">blmc_robots::Teststand::get_slider_positions</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_slider_positions()</div><div class="ttdoc">get_slider_positions WARNING !!!! The method acquire_sensors() has to be called prior to any getter t...</div><div class="ttdef"><b>Definition:</b> teststand.hpp:177</div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_a27ba45a099b4ff6852f5acd0226aa915"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#a27ba45a099b4ff6852f5acd0226aa915">blmc_robots::Teststand::get_ati_torque</a></div><div class="ttdeci">const Eigen::Ref&lt; VectorAtiTorque &gt; get_ati_torque()</div><div class="ttdoc">Get the ati_torque_ object WARNING !!!! The method acquire_sensors() has to be called prior to any ge...</div><div class="ttdef"><b>Definition:</b> teststand.hpp:235</div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_a466977786f9b007854fa2eb2a97b0de9"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#a466977786f9b007854fa2eb2a97b0de9">blmc_robots::Teststand::VectorAtiTorque</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 3, 1 &gt; VectorAtiTorque</div><div class="ttdoc">This type define the torqes from the ati-FT sensors. </div><div class="ttdef"><b>Definition:</b> teststand.hpp:41</div></div>
<div class="ttc" id="common__header_8hpp_html"><div class="ttname"><a href="common__header_8hpp.html">common_header.hpp</a></div><div class="ttdoc">The hardware wrapper of the quadruped. </div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_a0486afbd05d4f7c354ebad8432c178bd"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#a0486afbd05d4f7c354ebad8432c178bd">blmc_robots::Teststand::get_contact_sensors_states</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector1d &gt; get_contact_sensors_states()</div><div class="ttdoc">get_contact_sensors_states WARNING !!!! The method acquire_sensors() has to be called prior to any ge...</div><div class="ttdef"><b>Definition:</b> teststand.hpp:189</div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_a51f17cf2b01dd8252e21db97b486e067"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#a51f17cf2b01dd8252e21db97b486e067">blmc_robots::Teststand::VectorAtiForce</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 3, 1 &gt; VectorAtiForce</div><div class="ttdoc">This type define the forces from the ati-FT sensors. </div><div class="ttdef"><b>Definition:</b> teststand.hpp:37</div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_adf08db3dbb4fd8da74c8ef15fb393c1a"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#adf08db3dbb4fd8da74c8ef15fb393c1a">blmc_robots::Teststand::get_joint_positions</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_joint_positions()</div><div class="ttdoc">get_joint_positions WARNING !!!! The method acquire_sensors() has to be called prior to any getter to...</div><div class="ttdef"><b>Definition:</b> teststand.hpp:102</div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_af8a0d1cc608f91a0a752758c7554087a"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#af8a0d1cc608f91a0a752758c7554087a">blmc_robots::Teststand::get_height_sensors</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector1d &gt; get_height_sensors()</div><div class="ttdoc">get_contact_sensors_states WARNING !!!! The method acquire_sensors() has to be called prior to any ge...</div><div class="ttdef"><b>Definition:</b> teststand.hpp:201</div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_a4897109730380ae0be7da37e2bd69e81"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#a4897109730380ae0be7da37e2bd69e81">blmc_robots::Teststand::get_motor_inertias</a></div><div class="ttdeci">const Eigen::Ref&lt; Vector2d &gt; get_motor_inertias()</div><div class="ttdoc">get_motor_inertias </div><div class="ttdef"><b>Definition:</b> teststand.hpp:81</div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_af4bf3a4692fdeacdad78a7213c3fbe98"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#af4bf3a4692fdeacdad78a7213c3fbe98">blmc_robots::Teststand::get_ati_force</a></div><div class="ttdeci">const Eigen::Ref&lt; VectorAtiForce &gt; get_ati_force()</div><div class="ttdoc">Get the ati_force_ object WARNING !!!! The method acquire_sensors() has to be called prior to any get...</div><div class="ttdef"><b>Definition:</b> teststand.hpp:223</div></div>
<div class="ttc" id="namespaceblmc__robots_html"><div class="ttname"><a href="namespaceblmc__robots.html">blmc_robots</a></div><div class="ttdef"><b>Definition:</b> blmc_joint_module.cpp:15</div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html">blmc_robots::Teststand</a></div><div class="ttdoc">The class Teststand is used to control the Teststand robot located at MPI-IS Tuebingen. </div><div class="ttdef"><b>Definition:</b> teststand.hpp:23</div></div>
<div class="ttc" id="classblmc__robots_1_1Teststand_html_a201214fc01f68b97ceba62af3fb8cccf"><div class="ttname"><a href="classblmc__robots_1_1Teststand.html#a201214fc01f68b97ceba62af3fb8cccf">blmc_robots::Teststand::VectorSlider</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 2, 1 &gt; VectorSlider</div><div class="ttdoc">Data type containing the Sliders data. </div><div class="ttdef"><b>Definition:</b> teststand.hpp:29</div></div>
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